Vehicle door hinge adjustment method and device, computer equipment, readable storage medium and program product

Abstract

The application relates to a vehicle door hinge adjustment method and device, computer equipment, a readable storage medium and a program product, and relates to the technical field of automobiles. The method comprises the following steps: acquiring a hinge installation image of a vehicle door hinge on a vehicle door; performing error analysis on the installation position of the vehicle door hinge on the vehicle door based on the hinge installation image to obtain a hinge installation error; acquiring a threaded hole region image of a vehicle body; the threaded hole region image refers to an image of a region on the vehicle body where a threaded hole for connecting the vehicle door hinge is located; performing hole position error analysis on the threaded hole based on the threaded hole region image to obtain a threaded hole position manufacturing error; and calculating an adjustment amount of the vehicle door hinge in the installation direction according to the hinge installation error and the threaded hole position manufacturing error. The method can ensure the assembly precision of the vehicle door.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a method, apparatus, computer device, computer-readable storage medium, and computer program product for adjusting a car door hinge. Background Technology

[0002] As competition in the automotive market intensifies, the quality requirements for automobiles are also increasing. Door assembly precision, as an important quality indicator, plays a crucial role in the overall quality of the vehicle.

[0003] In traditional manufacturing processes, to ensure the precision of car door assembly, the gaps and surface differences between the door and the car body are typically measured and corrected manually. However, this method, which relies on human subjective judgment, cannot guarantee the accuracy of error correction, and therefore cannot guarantee the precision of car door assembly. Summary of the Invention

[0004] Therefore, it is necessary to provide a door hinge adjustment method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the assembly accuracy of the door, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a method for adjusting a car door hinge, comprising: acquiring a hinge installation image of the car door hinge on the car door; performing error analysis on the installation position of the car door hinge on the car door based on the hinge installation image to obtain the hinge installation error; acquiring an image of the threaded hole area of ​​the car body; the threaded hole area image refers to the image of the area on the car body where the threaded holes used to connect the car door hinge are located; performing hole position error analysis on the threaded hole based on the threaded hole area image to obtain the threaded hole position manufacturing error; and calculating the adjustment amount of the car door hinge in the installation direction based on the hinge installation error and the threaded hole position manufacturing error.

[0006] In one embodiment, the hinge installation image includes a partial image of the vehicle door and an image of a support component for supporting the door hinge; the door hinge and the support component are in a fitted state; based on the hinge installation image, an error analysis is performed on the installation position of the door hinge on the vehicle door to obtain the hinge installation error, including: calculating the distance between the vehicle door and the support component based on the partial door image and the component image; and performing an error analysis on the installation position of the door hinge on the vehicle door based on the distance to obtain the hinge installation error.

[0007] In one embodiment, the distance between the door and the supporting component is calculated based on a local door image and a component image, including: acquiring first point cloud data of the local door image and second point cloud data of the component image; performing plane fitting based on the first point cloud data and the second point cloud data respectively to obtain a first fitting plane matching the local door image and a second fitting plane matching the component image; projecting the center point of the first fitting plane onto the second fitting plane to obtain the projection point of the center point of the plane on the second fitting plane; and using the distance between the center point of the plane and the projection point as the distance between the door and the supporting component.

[0008] In one embodiment, the threaded hole includes at least two sets of threaded holes; based on the threaded hole area image, the hole position error is analyzed to obtain the threaded hole position manufacturing error, including: based on the threaded hole area image, the position analysis is performed on each set of threaded holes to obtain the center position of each set of threaded holes; based on the distance between the center positions, the hole position error is analyzed to obtain the threaded hole position manufacturing error.

[0009] In one embodiment, based on the threaded hole region image, position analysis is performed on each threaded hole group to obtain the center position of each threaded hole group, including: for each threaded hole group, based on the threaded hole region image, position analysis is performed on each target threaded hole of the threaded hole group to obtain the image coordinates of each target threaded hole; based on the mapping relationship between the image coordinate system and the vehicle coordinate system, the image coordinates are transformed to obtain the threaded hole coordinates of each target threaded hole in the vehicle coordinate system; and the center position of the threaded hole group is determined based on the coordinates of each threaded hole.

[0010] In one embodiment, the adjustment amount of the door hinge in the installation direction is calculated based on the hinge installation error and the thread hole manufacturing error, including: superimposing the hinge installation error and the thread hole manufacturing error to obtain the total installation error of the door hinge; determining the installation position compensation amount of the door hinge in the installation direction based on the total installation error; and adjusting the door hinge according to the installation position compensation amount.

[0011] Secondly, this application also provides a door hinge adjustment device, comprising: a first image acquisition module for acquiring a hinge installation image of the door hinge on the door; a first error analysis module for performing error analysis on the installation position of the door hinge on the door based on the hinge installation image to obtain the hinge installation error; a second image acquisition module for acquiring an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinge are located; the second error analysis module for performing hole position error analysis on the threaded hole based on the threaded hole area image to obtain the threaded hole position manufacturing error; and a hinge adjustment module for calculating the adjustment amount of the door hinge in the installation direction based on the hinge installation error and the threaded hole position manufacturing error.

[0012] Thirdly, this application also provides a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring an image of the door hinge installation on the door; based on the hinge installation image, performing error analysis on the installation position of the door hinge on the door to obtain the hinge installation error; acquiring an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinge are located; based on the threaded hole area image, performing hole position error analysis on the threaded holes to obtain the threaded hole position manufacturing error; and calculating the adjustment amount of the door hinge in the installation direction according to the hinge installation error and the threaded hole position manufacturing error.

[0013] Fourthly, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the following steps: acquiring an image of the door hinge installed on the door; based on the hinge installation image, performing error analysis on the installation position of the door hinge on the door to obtain the hinge installation error; acquiring an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinge are located; based on the threaded hole area image, performing hole position error analysis on the threaded holes to obtain the threaded hole position manufacturing error; and calculating the adjustment amount of the door hinge in the installation direction according to the hinge installation error and the threaded hole position manufacturing error.

[0014] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps: acquiring an image of a door hinge installed on a door; performing error analysis on the installation position of the door hinge on the door based on the hinge installation image to obtain the hinge installation error; acquiring an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinge are located; performing hole position error analysis on the threaded holes based on the threaded hole area image to obtain the threaded hole position manufacturing error; and calculating the adjustment amount of the door hinge in the installation direction based on the hinge installation error and the threaded hole position manufacturing error.

[0015] The aforementioned method, apparatus, computer equipment, computer-readable storage medium, and computer program product for adjusting car door hinges first acquire an image of the hinge installation on the car door. Based on this image, error analysis is performed on the hinge's installation position to obtain the hinge installation error. Next, an image of the threaded hole area on the car body is acquired. This image refers to the area on the car body where the threaded holes used to connect the door hinges are located. Based on this image, hole position error analysis is performed on the threaded holes to obtain the threaded hole manufacturing error, which characterizes the car body's manufacturing error. Finally, based on the hinge installation error and the threaded hole manufacturing error, the adjustment amount of the door hinge in the installation direction is calculated, thereby adjusting the door hinge's installation position. Thus, this solution utilizes visual technology for error analysis, eliminating the need for manual intervention and the influence of subjective human judgment on the door hinge installation error. Furthermore, by using multi-dimensional errors—hinge installation error and threaded hole manufacturing error—coordinated error compensation eliminates the limitations of single error correction. Ultimately, the above two aspects enabled precise analysis of door hinge installation errors, thereby improving the accuracy of door hinge installation and adjustment, and ultimately achieving high-precision matching between the door and the vehicle body, significantly improving door assembly precision. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a diagram illustrating the application environment of a door hinge adjustment method in one embodiment.

[0018] Figure 2 This is a flowchart illustrating a door hinge adjustment method in one embodiment;

[0019] Figure 3 This is a schematic diagram of a body-in-white door connected by hinges in one embodiment;

[0020] Figure 4 This is a schematic diagram illustrating the connection between the door hinge and the door in one embodiment.

[0021] Figure 5 This is a schematic diagram of the acquisition of hinge installation images in one embodiment;

[0022] Figure 6 This is a schematic diagram of the threaded hole area on the vehicle body in one embodiment;

[0023] Figure 7 This is a schematic diagram of a support component in one embodiment;

[0024] Figure 8 This is a flowchart illustrating the analysis of hinge installation errors in one embodiment;

[0025] Figure 9 This is a flowchart illustrating the calculation of the distance between the vehicle door and the supporting component in one embodiment;

[0026] Figure 10 This is a flowchart illustrating the analysis of manufacturing errors in threaded hole positions in one embodiment.

[0027] Figure 11 This is a flowchart illustrating the calculation of the center position of the threaded hole group in one embodiment;

[0028] Figure 12 This is a flowchart for calculating the center position of the threaded hole group in another embodiment;

[0029] Figure 13 This is a flowchart illustrating the adjustment of the door hinge mounting position in one embodiment;

[0030] Figure 14 This is a structural block diagram of a door hinge adjustment device in one embodiment;

[0031] Figure 15 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] As competition in the automotive market intensifies, the quality requirements for vehicles are also increasing. Door assembly precision, as a crucial quality indicator, plays a vital role in the overall vehicle quality. In traditional door installation, due to manufacturing errors in the body-in-white and the door itself, directly installing the door on the body-in-white cannot guarantee the stability of the gaps and surface differences between the door and the body after installation. Therefore, to ensure door assembly precision, the gaps and surface differences between the door and the body are usually repeatedly measured and corrected manually. This is not only time-consuming and labor-intensive but also cannot guarantee assembly precision and efficiency. Furthermore, since the door and body are connected by hinges, both hinge installation errors and body manufacturing errors will affect the dimensional relationship between the door and the body. Simply correcting the overall position of the door is still insufficient to guarantee the accuracy of the surface difference between the door and the body. Therefore, it is necessary to comprehensively measure hinge installation and body manufacturing errors, and make secondary adjustments to the hinge position on the door to ensure high-precision door assembly.

[0034] To address the aforementioned technical problems, this application provides a method for adjusting a car door hinge, which can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104, or it can be located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and IoT devices. Server 104 can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services.

[0035] Specifically, in response to the installation and adjustment command for the door hinge sent by the terminal 102, the server 104 obtains an image of the door hinge installation on the door; based on the hinge installation image, it performs error analysis on the installation position of the door hinge on the door to obtain the hinge installation error; for the car body on which the door is installed via the door hinge, it obtains an image of the threaded hole area of ​​the car body; the threaded hole area image refers to the image of the area on the car body where the threaded holes used to connect the door hinge are located; based on the threaded hole area image, it performs hole position error analysis on the threaded holes to obtain the threaded hole position manufacturing error; based on the hinge installation error and the threaded hole position manufacturing error, it adjusts the installation position of the door hinge to obtain the installation position adjustment result of the door hinge.

[0036] In some embodiments, besides sending installation adjustment instructions via terminal 102 to trigger the installation and adjustment of the door hinges, server 104 can also automatically generate installation adjustment instructions for the door hinges, thereby automatically installing and adjusting the door hinges. Specifically, during the door assembly process, server 104 can automatically generate installation adjustment instructions for the door hinges and acquire a hinge installation image on the door; based on the hinge installation image, perform error analysis on the installation position of the door hinges on the door to obtain the hinge installation error; for the car body on which the door is installed via the door hinges, acquire an image of the threaded hole area of ​​the car body; the threaded hole area image refers to the image of the area on the car body where the threaded holes used to connect the door hinges are located; based on the threaded hole area image, perform hole position error analysis on the threaded holes to obtain the threaded hole position manufacturing error; and adjust the installation position of the door hinges according to the hinge installation error and the threaded hole position manufacturing error to obtain the door hinge installation position adjustment result.

[0037] In one exemplary embodiment, such as Figure 2 As shown, a method for adjusting a car door hinge is provided, which is applied to... Figure 1 Taking server 104 as an example, the following steps are included:

[0038] Step S202: Obtain the hinge installation image of the door hinge on the door.

[0039] Among them, the door hinge is a key component that connects the door to the body and enables the door to open and close. Figure 3 A schematic diagram showing the body-in-white doors connected by hinges is provided. Figure 4 A schematic diagram showing the connection between the door hinge and the door is provided. Figure 3 , Figure 4 It is known that the door 30 is installed onto the body-in-white 10 via hinges 20. Each door 30 can have at least two hinges 20, which are bolted to the body-in-white 10 and the door 30. The installation adjustment command can refer to an instruction to adjust the installation position of the door hinge on the door, used to trigger the door hinge installation error detection and installation adjustment process. The hinge installation image can refer to an image of the door hinge installed on the door. It can be understood that at this point, the door hinge can be pre-installed on the door, i.e., the bolts of the door hinge are pre-tightened to initially fix it to the door, facilitating subsequent position adjustment. Of course, even after the hinge is fully installed on the door, its installation position can still be adjusted. In this case, the bolts can be loosened, the door hinge adjusted to the optimal assembly position, and then the bolts tightened again.

[0040] In some embodiments, the hinge installation image can be acquired by an image acquisition device installed above the door hinge. In the actual assembly process, the image acquisition device can be a 3D camera or other device with shooting accuracy that meets the actual shooting requirements, and the number of image acquisition devices is at least one. Figure 5 A schematic diagram of the acquisition of hinge installation images is shown. Figure 5 In the middle, the car door 30 is in a flat position, placed on the centering platform (not shown in the figure), and the two image acquisition devices 40 can respectively acquire images of the left and right door hinges 20.

[0041] For example, during the car door assembly process, after the car door is placed on the centering platform and the door hinge is clamped by the cylinder, the server can take a picture of the car door lying flat on the centering platform, or take a picture of the car door hinge on the car door, through an image acquisition device pre-installed above the centering platform, thereby obtaining an image of the car door hinge.

[0042] Step S204: Based on the hinge installation image, perform error analysis on the installation position of the door hinge on the door to obtain the hinge installation error.

[0043] Among them, hinge installation error can be understood as the error in the installation position of the door hinge on the door.

[0044] For example, after obtaining an installation image of the car door hinge, the server can perform error analysis on the installation position of the door hinge on the car door based on the image. Specifically, it analyzes the actual relative distance between the door hinge and the car door, compares this actual relative distance with the standard distance between the door hinge and the car door, and determines the installation error of the hinge based on the comparison result.

[0045] Step S206: Obtain an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinges are located.

[0046] The body is a white body, which is an unpainted metal body frame, including sheet metal structures such as side panels, roof, and pillars. The door mounting surfaces have pre-made threaded holes for fixing the door hinges. Figure 6 The diagram shows the threaded hole area on the vehicle body. It can be understood that the number of threaded holes corresponds to the number of door hinges; that is, one door hinge corresponds to one threaded hole group, and one threaded hole group can contain at least two threaded holes. Figure 6For example, the threaded hole area 11 on the body-in-white 10 can contain two threaded hole groups. The upper threaded hole group contains two threaded holes, H1 and H2, and the upper threaded hole group contains two threaded holes, H3 and H4. The image of the threaded hole area can be acquired by an image acquisition device positioned directly in front of the door mounting surface, or in other words, directly in front of the threaded hole area. It should be noted that the image acquisition device 50 for acquiring the threaded hole area image can also be a 3D camera or other device with shooting accuracy that meets the actual shooting requirements. There should be at least one such device. The difference between the image acquisition device for acquiring the threaded hole area image and the image acquisition device for acquiring the hinge mounting image lies in their different installation positions. Of course, in practical applications, in addition to the difference in installation position, the shooting accuracy, function configuration, resolution, etc. of the two sets of image acquisition devices can be set according to actual needs. For example, capturing the threaded hole may require higher accuracy to capture the position of the small hole, while capturing the hinge mounting image may require a wider field of view to cover the entire hinge structure.

[0047] For example, during the assembly of a car door, the manufacturing error of the threaded holes is also one of the factors affecting the assembly accuracy of the door. Therefore, in addition to capturing images of the door hinges, the server can also capture images of the threaded hole area on the door assembly surface after the car body arrives at the workstation and the locating pin is inserted, using an image acquisition device pre-installed on the front of the car body, specifically the front of the door assembly surface, to obtain an image of the threaded hole area.

[0048] Step S208: Based on the image of the threaded hole area, perform hole position error analysis on the threaded hole to obtain the threaded hole position manufacturing error.

[0049] Among them, the thread hole position manufacturing error refers to the positional deviation of the thread hole position. The thread hole is generated during the vehicle body manufacturing process, so the thread hole position manufacturing error can also be used to characterize the error in vehicle body manufacturing.

[0050] For example, after acquiring an image of the threaded hole area, the server can perform error analysis on the manufacturing position of the threaded hole on the vehicle body based on that image. Specifically, it analyzes whether the actual manufacturing position of the threaded hole matches the standard position of the threaded hole, and determines the manufacturing error of the threaded hole position based on the matching result.

[0051] Step S210: Calculate the adjustment amount of the door hinge in the installation direction based on the hinge installation error and the thread hole manufacturing error.

[0052] The installation direction can be the normal vector of the door hinge to the car body. The hinge contact surface refers to the plane in contact between the door hinge and the door assembly surface, that is, the contact plane where the hinge and the door assembly surface are fixed by bolts. The normal vector is the direction perpendicular to the hinge contact surface, that is, the direction of movement when adjusting the hinge.

[0053] For example, after analyzing the hinge installation error and the thread hole manufacturing error, the server can add the two errors together to obtain the total installation error of the door hinge. The server can then control a servo adjustment mechanism to adjust the position of the door hinge based on this total installation error. Furthermore, after assembling the door based on the adjusted hinge position, the gap and surface difference between the door and the body can be further detected to verify the accuracy of the door hinge adjustment.

[0054] In this embodiment, an image of the door hinge installation on the door is acquired. Based on this image, an error analysis is performed on the installation position of the door hinge on the door to obtain the hinge installation error. Next, an image of the threaded hole area on the vehicle body is acquired. This image refers to the area on the vehicle body where the threaded holes used to connect the door hinge are located. Based on this image, a hole position error analysis is performed on the threaded holes to obtain the threaded hole manufacturing error, which characterizes the manufacturing error of the vehicle body. Finally, based on the hinge installation error and the threaded hole manufacturing error, the adjustment amount of the door hinge in the installation direction is calculated, thereby adjusting the installation position of the door hinge. Thus, this embodiment utilizes visual technology for error analysis, eliminating the need for manual intervention and the influence of subjective human judgment on the door hinge installation error. Furthermore, by using multi-dimensional errors—hinge installation error and threaded hole manufacturing error—coordinated error compensation can overcome the limitations of single error correction. Ultimately, the above two aspects enabled precise analysis of door hinge installation errors, thereby improving the accuracy of door hinge installation and adjustment, and ultimately achieving high-precision matching between the door and the vehicle body, significantly improving door assembly precision.

[0055] In some embodiments, the hinge installation image includes a partial image of the vehicle door and an image of a support member for supporting the door hinge; the door hinge and the support member are in a fitted state.

[0056] The local door image can be understood as the ROI (Region of Interest) image of the door. Specifically, the door ROI can be the reference area of ​​the door, that is, the outer panel area of ​​the door that is close to the door hinge and has a stable size. The support component can be a workpiece made of metal material, such as a metal block with a smooth upper surface, which is connected to a servo adjustment mechanism and can drive the hinge to move through the servo adjustment mechanism. Figure 7A schematic diagram of the support component is shown. The support component 60 is located below the door hinge and supports the door hinge. The lower surface of the door hinge, i.e., the hinge contact surface, is in contact with the upper surface of the support component. In one example, the upper surface area of ​​the support component is larger than the lower surface area of ​​the door hinge so that the image acquisition device can capture the upper plane of the support component. The component image can be a ROI image of the support component, which can be a region parallel to the ROI of the door.

[0057] In one exemplary embodiment, such as Figure 8 As shown, based on the hinge installation image, an error analysis is performed on the installation position of the door hinge on the door to obtain the hinge installation error, including:

[0058] Step S802: Calculate the distance between the door and the supporting component based on the local door image and component image.

[0059] Specifically, the server can first align the support component with the door hinge on the centering platform, that is, align the upper surface of the support component with the lower surface of the door hinge. After alignment, the mechanical grippers of the centering platform can clamp the support component and the door hinge together, thus fixing the relative position between the door and the support component. It is understandable that the upper surface of the door hinge is cast and uneven, making it unsuitable for calculating the distance to the door. Furthermore, the image acquisition device, located above the door hinge, cannot capture the lower surface of the door hinge. Therefore, the design aligns the upper surface of the support component with the lower surface of the door hinge, allowing the distance between the upper surface of the support component and the reference area of ​​the door to characterize the hinge installation error.

[0060] After the mechanical grippers clamp the support component to the door hinge, the image acquisition device can capture the ROI image of the door and the ROI image of the support block and send them back to the server. The server can then calculate the relative distance between the support block and the door based on the images fed back by the image acquisition device.

[0061] Step S804: Based on the distance, perform error analysis on the installation position of the door hinge on the door to obtain the hinge installation error.

[0062] Specifically, the relative distance between the support block and the car door calculated by the server is the relative distance between the door hinge and the car door. Furthermore, the server can compare this distance with the standard distance between the door hinge and the car door to obtain the distance error between the door hinge and the car door; this distance error is the hinge installation error.

[0063] In this embodiment, a stable, high-contrast reference surface is provided by the support component to calculate the relative distance between the support component and the car door. Since the door hinge and the support component are in contact, the relative distance between them can characterize the relative distance between the door hinge and the car door. This avoids interference from surface defects in the door hinge, ensures the accuracy of the distance between the door hinge and the car door, and thus ensures accurate hinge installation error, thereby improving the accuracy of subsequent door hinge installation and adjustment.

[0064] In one exemplary embodiment, such as Figure 9 As shown, based on local door images and component images, the distance between the door and the supporting component is calculated, including:

[0065] Step S902: Obtain the first point cloud data of the local door image and the second point cloud data of the component image.

[0066] The first point cloud data refers to the set of discrete points of the door ROI in a three-dimensional coordinate system, which can be used to represent the surface morphology of the door ROI. Similarly, the second point cloud data refers to the set of discrete points of the support component ROI in a three-dimensional coordinate system, which can be used to represent the surface morphology of the support component ROI.

[0067] For example, the image acquisition device can scan the door ROI and the supporting component ROI to obtain RGB images and point cloud data of the door ROI and the supporting component ROI.

[0068] Step S904: Based on the first point cloud data and the second point cloud data, perform plane fitting to obtain a first fitting plane that matches the local door image and a second fitting plane that matches the component image.

[0069] Plane fitting refers to the process of extracting the best-fitting plane from point cloud data, that is, converting discrete point clouds into geometric plane parameters that can be quantified and analyzed. The first fitting plane is a plane equation generated based on the first point cloud data, which represents the reference plane of the door. The second fitting plane is a plane equation generated based on the second point cloud data, which represents the reference plane of the supporting component. The distance between the two reference planes is the distance between the door and the supporting component.

[0070] For example, after obtaining the point cloud data for the ROI of the car door and the ROI of the supporting component, the server can perform plane fitting based on the point cloud data using one or more methods such as least squares, RANSAC algorithm, and principal component analysis, thereby obtaining the fitted plane for the car door and the fitted plane for the supporting component. Least squares can solve for the plane equation parameters by minimizing the sum of the squares of the perpendicular distances from all points to the plane. It is computationally efficient and suitable for scenarios with low data noise and few outliers. The RANSAC algorithm fits the plane by iteratively sampling a subset of points and selecting the model with the most interior points (points that meet the plane assumptions). Specifically, it first randomly selects a specified number of points from the point cloud data to generate candidate planes, and counts the number of points whose distance to the plane is less than a threshold. This process is repeated a specified number of times, retaining the plane with the most interior points, and using the final set of interior points to optimize the plane parameters using least squares. This method is robust to outliers such as noisy points, but it is computationally intensive, requiring careful setting of the number of iterations and the threshold. Principal component analysis (PCA) finds the principal directions of a point cloud by decomposing the covariance matrix and minimizing the projection variance of the point cloud along the normal vector direction. It is computationally fast and suitable for real-time processing, but it is sensitive to outliers. Of course, in practical applications, appropriate plane fitting methods can be selected according to requirements; this embodiment does not impose any limitations on this.

[0071] Step S906: Project the center point of the first fitting plane onto the second fitting plane to obtain the projection point of the center point of the plane onto the second fitting plane.

[0072] Step S908: The distance between the center point of the plane and the projection point is taken as the distance between the door and the supporting component.

[0073] Here, the center point of the first fitting plane is the average coordinate of all point cloud coordinates on the first fitting plane. By perpendicularly mapping the center point of the first fitting plane onto the second fitting plane along the normal direction, a new coordinate point, also known as the projection point, can be obtained.

[0074] For example, after obtaining the first and second fitting planes, the server can first calculate the average coordinates of each point cloud coordinate based on the point cloud coordinates of the first fitting plane. The point corresponding to the average coordinates is the center point of the first fitting plane. Then, the center point is projected onto the second fitting plane along the normal direction of the second fitting plane to obtain a projection point. The Euclidean distance between the center point and the projection point is the distance between the door and the supporting component.

[0075] In this embodiment, the optimal fitting plane for each of the door and the support component is found through plane fitting technology, and the distance between the fitting planes is calculated to characterize the distance between the door and the support component, thus ensuring the accuracy of the distance between the door and the support component, and consequently ensuring the accuracy of the hinge installation error.

[0076] In one exemplary embodiment, such as Figure 10 As shown, based on the image of the threaded hole area, hole position error analysis is performed on the threaded hole to obtain the threaded hole position manufacturing error, including:

[0077] Step S1002: Based on the threaded hole area image, perform position analysis on each threaded hole group to obtain the center position of each threaded hole group.

[0078] Step S1004: Based on the distance between each center position, perform hole position error analysis on the threaded hole to obtain the threaded hole position manufacturing error.

[0079] The installation of car doors typically requires at least two door hinges, thus requiring at least two sets of threaded holes to be manufactured on the car body. By analyzing the positional relationships between the threaded hole sets, manufacturing errors in the threaded hole positions can be identified, thereby determining the manufacturing errors of the car body. The center position refers to the convergence center of the centers of all threaded holes within the threaded hole set, characterizing the overall position of the threaded hole set. Figure 11 The flowchart illustrates the calculation of the center positions of threaded hole groups, where T1 represents the center position of threaded hole groups containing H1 and H2, and T2 represents the center position of threaded hole groups containing H3 and H4. Hole position error analysis refers to analyzing the deviation between the distance between each center position and the standard distance. Figure 11 For example, the actual distance between T1 and T2 is compared with the standard distance between T1 and T2. The deviation between the actual distance and the standard distance is the manufacturing error of the thread hole.

[0080] For example, refer to Figure 11 The flowchart illustrates that after the server acquires the threaded hole area image 12 of the vehicle body, it first performs ROI localization on the image 12, specifically locating the threaded hole ROI (the area within the dashed box in the diagram), to reduce interference from unnecessary areas and improve the accuracy and efficiency of subsequent visual processing. After localization, the threaded hole circles are extracted to obtain the corresponding threaded circular holes. Once the threaded circular holes are obtained, the center position of each group of threaded circular holes can be calculated. The deviation between the actual distance and the standard distance between each center position represents the threaded hole manufacturing error.

[0081] In this embodiment, the center position of each threaded hole group is used to characterize the overall position of the threaded hole group, and then the distance between each center position, i.e. the distance between each threaded hole group, is calculated, which reflects the overall deviation of the threaded hole and effectively improves the accuracy and reliability of the threaded hole position manufacturing error, thereby ensuring the accuracy of subsequent door hinge installation and adjustment.

[0082] In one exemplary embodiment, such as Figure 12 As shown, based on the image of the threaded hole region, positional analysis is performed on each group of threaded holes to obtain the center position of each group of threaded holes, including:

[0083] Step S1202: For each threaded hole group, based on the threaded hole area image, perform position analysis on each target threaded hole in the threaded hole group to obtain the image coordinates of each target threaded hole.

[0084] The target threaded hole is a single threaded hole within a group of threaded holes (e.g., ...). Figure 11 (H1, H2, H3, H4 in the image coordinate system). Image coordinates refer to the coordinates of the target threaded hole in the image coordinate system.

[0085] Step S1204: Based on the mapping relationship between the image coordinate system and the vehicle coordinate system, the coordinates of each image are transformed to obtain the coordinates of each target threaded hole in the vehicle coordinate system.

[0086] Step S1206: Determine the center position of the threaded hole group based on the coordinates of each threaded hole.

[0087] The vehicle coordinate system is a three-dimensional coordinate system with the center of the vehicle assembly as its origin. The X-axis points towards the front and rear of the vehicle, the Y-axis points towards the left and right of the vehicle, and the Z-axis points towards the up and down of the vehicle. The mapping relationship can be a transformation model between the image coordinate system and the vehicle coordinate system established through a calibration algorithm, such as an affine transformation or perspective transformation matrix. The threaded hole coordinates are the coordinates of each target threaded hole in the vehicle coordinate system.

[0088] For example, the server can pre-store the mapping relationship between the image coordinate system and the vehicle coordinate system. Thus, after obtaining the image coordinates of each target threaded hole, the image coordinates can be converted into the coordinates of the target threaded hole in the vehicle coordinate system based on this mapping relationship. For each group of threaded holes, its center position is the location of the center point between the coordinates of each threaded hole.

[0089] In this embodiment, by mapping the image coordinates of the threaded hole to the vehicle coordinate system, the coordinate data is unified, thereby ensuring the accuracy of the center position of the threaded hole and further improving the accuracy of the threaded hole manufacturing error.

[0090] In one exemplary embodiment, such as Figure 13 As shown, based on the hinge installation error and the thread hole manufacturing error, the adjustment amount of the door hinge in the installation direction is calculated, including:

[0091] Step S1302: The hinge installation error and the thread hole manufacturing error are superimposed to obtain the total installation error of the door hinge.

[0092] Step S1304: Determine the installation position compensation amount of the door hinge in the installation direction based on the total installation error;

[0093] The total installation error is the sum of the hinge installation error and the thread hole manufacturing error, representing the overall deviation of the door hinge. The installation position compensation amount can be understood as the physical quantity required to adjust the current installation position of the door hinge to eliminate the total installation error. The installation position compensation amount can be the same as the total installation error in value but in the opposite direction.

[0094] For example, the server can obtain the total installation error of the door hinge by superimposing the hinge installation error and the thread hole manufacturing error. Based on this total installation error, the amount of compensation for reverse position compensation of the door hinge can be determined.

[0095] In some embodiments, the following situations trigger the door hinge installation position compensation: left (side hinge) high, right (side hinge) low, left high, right high, left low, right high, and left low, right low. It should be noted that "left" and "right" here refer to the position of the door hinge. Figure 5 From this perspective, with the car door horizontally placed on the center console, the left hinge corresponds to the lower threaded hole group on the car body, and the right hinge corresponds to the upper threaded hole group on the car body. In these scenarios, the difference between the total installation error of the right-side door hinge and the total installation error of the left-side door hinge can be calculated and averaged. This average value is the positional compensation amount that needs to be adjusted for both hinges, thus eliminating positional errors on both sides of the door. Furthermore, after compensating for the consistency of errors on both sides of the door hinges, depending on the actual situation, such as the door hinges not being in the standard position, the left and right door hinges can be adjusted as a whole.

[0096] Step S1306: Adjust the door hinges according to the installation position compensation amount.

[0097] For example, after the server calculates the installation position compensation value of the door hinge, it can trigger the tightening sleeve to loosen the bolts of the door hinge while the mechanical gripper is holding the door hinge and the support component. Based on the obtained installation position compensation value, the server controls the servo adjustment mechanism of the door hinge to drive the support component, thereby moving the door hinge. After the movement is completed, the server triggers the tightening sleeve to tighten the bolts of the door hinge, thus completing the entire installation and adjustment of the door hinge.

[0098] In this embodiment, the comprehensive error of the door hinge installation and adjustment is analyzed based on the hinge installation error and the thread hole manufacturing error, and the corresponding compensation amount is matched to guide the servo adjustment mechanism to adjust the door hinge, thereby improving the accuracy of the door hinge installation and adjustment, and making the subsequent door assembly process more precise.

[0099] In one specific embodiment, the server can be a host computer control system server, such as a PLC (Programmable Logic Controller). Specifically, after the car door is placed on the centering platform, the PLC generates installation and adjustment instructions for the car door hinge. For the car body, images of the threaded hole area are captured by two 3D cameras mounted in front of the door mounting surface. For the door hinge, images of the hinge installation are captured by two 3D cameras mounted above the door hinge. Further, based on the threaded hole area images, the distance between the center positions of the upper and lower threaded hole groups is calculated; the deviation between this distance and the corresponding standard distance is the threaded hole manufacturing error. Based on the hinge installation images, the relative distance between the support block that fits with the door hinge and the door reference area is calculated to characterize the installation error between the door hinge and the door. Finally, the two errors are superimposed to obtain the total installation error of the door hinge. Based on the total installation error, the installation position compensation amount of the door hinge is determined. According to the installation position compensation amount, the door hinge is moved by the servo adjustment mechanism, i.e., the servo electric cylinder drive block, thereby realizing the installation adjustment of the door hinge.

[0100] In this embodiment, an image of the door hinge installation on the door is acquired. Based on this image, an error analysis is performed on the installation position of the door hinge on the door to obtain the hinge installation error. Next, an image of the threaded hole area on the vehicle body is acquired. This image refers to the area on the vehicle body where the threaded holes used to connect the door hinge are located. Based on this image, a hole position error analysis is performed on the threaded holes to obtain the threaded hole manufacturing error, which characterizes the manufacturing error of the vehicle body. Finally, based on the hinge installation error and the threaded hole manufacturing error, the adjustment amount of the door hinge in the installation direction is calculated, thereby adjusting the installation position of the door hinge. Thus, this embodiment utilizes visual technology for error analysis, eliminating the need for manual intervention and the influence of subjective human judgment on the door hinge installation error. Furthermore, by using multi-dimensional errors—hinge installation error and threaded hole manufacturing error—coordinated error compensation can overcome the limitations of single error correction. Ultimately, the above two aspects enabled precise analysis of door hinge installation errors, thereby improving the accuracy of door hinge installation and adjustment, and ultimately achieving high-precision matching between the door and the vehicle body, significantly improving door assembly precision.

[0101] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0102] Based on the same inventive concept, this application also provides a door hinge adjustment device for implementing the aforementioned door hinge adjustment method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more door hinge adjustment device embodiments provided below can be found in the limitations of the door hinge adjustment method described above, and will not be repeated here.

[0103] In one exemplary embodiment, such as Figure 14 As shown, a car door hinge adjustment device is provided, including: a first image acquisition module 1402, used to acquire a hinge installation image of the car door hinge on the car door; a first error analysis module 1404, used to perform error analysis on the installation position of the car door hinge on the car door based on the hinge installation image, to obtain the hinge installation error; a second image acquisition module 1406, used to acquire an image of the threaded hole area of ​​the car body; the threaded hole area image refers to the image of the area on the car body where the threaded holes used to connect the car door hinge are located; a second error analysis module 1408, used to perform hole position error analysis on the threaded holes based on the threaded hole area image, to obtain the threaded hole position manufacturing error; and a hinge adjustment module 1410, used to calculate the adjustment amount of the car door hinge in the installation direction based on the hinge installation error and the threaded hole position manufacturing error.

[0104] In one embodiment, the hinge installation image includes a partial image of the vehicle door and an image of a support component for supporting the door hinge; the door hinge and the support component are in a fitted state; the first error analysis module 1404 is further configured to: calculate the distance between the vehicle door and the support component based on the partial door image and the component image; and perform error analysis on the installation position of the door hinge on the vehicle door based on the distance to obtain the hinge installation error.

[0105] In one embodiment, the first error analysis module 1404 is further configured to: acquire first point cloud data of a local door image and second point cloud data of a component image; perform plane fitting based on the first point cloud data and the second point cloud data respectively to obtain a first fitting plane that matches the local door image and a second fitting plane that matches the component image; project the center point of the first fitting plane onto the second fitting plane to obtain the projection point of the center point of the plane on the second fitting plane; and use the distance between the center point of the plane and the projection point as the distance between the door and the supporting component.

[0106] In one embodiment, the threaded hole includes at least two sets of threaded holes; the second error analysis module 1408 is further configured to: perform position analysis on each set of threaded holes based on the threaded hole area image to obtain the center position of each set of threaded holes; and perform hole position error analysis on the threaded holes according to the distance between each center position to obtain the threaded hole position manufacturing error.

[0107] In one embodiment, the second error analysis module 1408 is further configured to: for each threaded hole group, perform position analysis on each target threaded hole in the threaded hole group based on the threaded hole area image to obtain the image coordinates of each target threaded hole; based on the mapping relationship between the image coordinate system and the vehicle coordinate system, perform coordinate transformation on each image coordinate to obtain the threaded hole coordinates of each target threaded hole in the vehicle coordinate system; and determine the center position of the threaded hole group based on the coordinates of each threaded hole.

[0108] In one embodiment, the hinge adjustment module 1410 is further configured to: superimpose the hinge installation error and the thread hole manufacturing error to obtain the total installation error of the door hinge; determine the installation position compensation amount of the door hinge in the installation direction based on the total installation error; and adjust the door hinge according to the installation position compensation amount.

[0109] Each module in the aforementioned door hinge adjustment device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0110] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 15As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores door hinge adjustment data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a door hinge adjustment method.

[0111] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0112] In one exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring a hinge installation image of a door hinge on a door; performing error analysis on the installation position of the door hinge on the door based on the hinge installation image to obtain the hinge installation error; acquiring an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinge are located; performing hole position error analysis on the threaded holes based on the threaded hole area image to obtain the threaded hole position manufacturing error; adjusting the installation position of the door hinge according to the hinge installation error and the threaded hole position manufacturing error to obtain the installation position adjustment result of the door hinge, and calculating the adjustment amount of the door hinge in the installation direction.

[0113] In one embodiment, when the processor executes the computer program, it further performs the following steps: calculating the distance between the door and the supporting component based on a local door image and a component image; and performing an error analysis on the installation position of the door hinge on the door based on the distance to obtain the hinge installation error.

[0114] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring first point cloud data of a local door image and second point cloud data of a component image; performing plane fitting based on the first point cloud data and the second point cloud data respectively to obtain a first fitting plane matching the local door image and a second fitting plane matching the component image; projecting the center point of the first fitting plane onto the second fitting plane to obtain the projection point of the center point of the plane on the second fitting plane; and using the distance between the center point of the plane and the projection point as the distance between the door and the supporting component.

[0115] In one embodiment, when the processor executes the computer program, it further performs the following steps: based on the image of the threaded hole area, it performs position analysis on each threaded hole group to obtain the center position of each threaded hole group; and based on the distance between each center position, it performs hole position error analysis on the threaded holes to obtain the threaded hole position manufacturing error.

[0116] In one embodiment, when the processor executes the computer program, it further performs the following steps: for each threaded hole group, based on the threaded hole region image, performs position analysis on each target threaded hole in the threaded hole group to obtain the image coordinates of each target threaded hole; based on the mapping relationship between the image coordinate system and the vehicle coordinate system, performs coordinate transformation on each image coordinate to obtain the threaded hole coordinates of each target threaded hole in the vehicle coordinate system; and determines the center position of the threaded hole group based on the coordinates of each threaded hole.

[0117] In one embodiment, when the processor executes the computer program, it further performs the following steps: superimposing the hinge installation error and the thread hole manufacturing error to obtain the total installation error of the door hinge; determining the installation position compensation amount of the door hinge in the installation direction based on the total installation error; and adjusting the door hinge according to the installation position compensation amount.

[0118] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: acquiring an image of a door hinge installed on a door; performing error analysis on the installation position of the door hinge on the door based on the hinge installation image to obtain the hinge installation error; acquiring an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinge are located; performing hole position error analysis on the threaded holes based on the threaded hole area image to obtain the threaded hole position manufacturing error; and calculating the adjustment amount of the door hinge in the installation direction based on the hinge installation error and the threaded hole position manufacturing error.

[0119] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: calculating the distance between the door and the supporting component based on the local door image and the component image; and performing error analysis on the installation position of the door hinge on the door based on the distance to obtain the hinge installation error.

[0120] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring first point cloud data of a local door image and second point cloud data of a component image; performing plane fitting based on the first point cloud data and the second point cloud data respectively to obtain a first fitting plane matching the local door image and a second fitting plane matching the component image; projecting the center point of the first fitting plane onto the second fitting plane to obtain the projection point of the center point of the plane on the second fitting plane; and using the distance between the center point of the plane and the projection point as the distance between the door and the supporting component.

[0121] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the image of the threaded hole area, performs position analysis on each threaded hole group to obtain the center position of each threaded hole group; and performs hole position error analysis on the threaded holes according to the distance between each center position to obtain the threaded hole position manufacturing error.

[0122] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each threaded hole group, based on the threaded hole region image, performs position analysis on each target threaded hole in the threaded hole group to obtain the image coordinates of each target threaded hole; based on the mapping relationship between the image coordinate system and the vehicle coordinate system, performs coordinate transformation on each image coordinate to obtain the threaded hole coordinates of each target threaded hole in the vehicle coordinate system; and determines the center position of the threaded hole group based on the coordinates of each threaded hole.

[0123] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: superimposing the hinge installation error and the thread hole manufacturing error to obtain the total installation error of the door hinge; determining the installation position compensation amount of the door hinge in the installation direction based on the total installation error; and adjusting the door hinge according to the installation position compensation amount.

[0124] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: acquiring a hinge installation image of a door hinge on a door; based on the hinge installation image, performing error analysis on the installation position of the door hinge on the door to obtain the hinge installation error; acquiring an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinge are located; based on the threaded hole area image, performing hole position error analysis on the threaded holes to obtain the threaded hole position manufacturing error; and calculating the adjustment amount of the door hinge in the installation direction based on the hinge installation error and the threaded hole position manufacturing error.

[0125] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: calculating the distance between the door and the supporting component based on the local door image and the component image; and performing error analysis on the installation position of the door hinge on the door based on the distance to obtain the hinge installation error.

[0126] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring first point cloud data of a local door image and second point cloud data of a component image; performing plane fitting based on the first point cloud data and the second point cloud data respectively to obtain a first fitting plane matching the local door image and a second fitting plane matching the component image; projecting the center point of the first fitting plane onto the second fitting plane to obtain the projection point of the center point of the plane on the second fitting plane; and using the distance between the center point of the plane and the projection point as the distance between the door and the supporting component.

[0127] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the image of the threaded hole area, performs position analysis on each threaded hole group to obtain the center position of each threaded hole group; and performs hole position error analysis on the threaded holes according to the distance between each center position to obtain the threaded hole position manufacturing error.

[0128] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each threaded hole group, based on the threaded hole region image, performs position analysis on each target threaded hole in the threaded hole group to obtain the image coordinates of each target threaded hole; based on the mapping relationship between the image coordinate system and the vehicle coordinate system, performs coordinate transformation on each image coordinate to obtain the threaded hole coordinates of each target threaded hole in the vehicle coordinate system; and determines the center position of the threaded hole group based on the coordinates of each threaded hole.

[0129] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: superimposing the hinge installation error and the thread hole manufacturing error to obtain the total installation error of the door hinge; determining the installation position compensation amount of the door hinge in the installation direction based on the total installation error; and adjusting the door hinge according to the installation position compensation amount.

[0130] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0131] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0132] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0133] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for adjusting a car door hinge, characterized in that, The method includes: Obtain an image of the door hinge installation on the door; the hinge installation image includes a partial image of the door and an image of the supporting components for supporting the door hinge; Based on the local door image and the component image, the distance between the door and the supporting component is calculated; Based on the distance, an error analysis is performed on the installation position of the door hinge on the door to obtain the hinge installation error. Obtain an image of the threaded hole area on the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinges are located; Based on the image of the threaded hole area, the hole position error is analyzed to obtain the threaded hole position manufacturing error; The adjustment amount of the door hinge in the installation direction is calculated based on the hinge installation error and the thread hole manufacturing error.

2. The method according to claim 1, characterized in that, The door hinge and the supporting component are in a fitted state.

3. The method according to claim 1, characterized in that, The step of calculating the distance between the door and the supporting component based on the local door image and the component image includes: Acquire the first point cloud data of the local door image and the second point cloud data of the component image; Based on the first point cloud data and the second point cloud data respectively, plane fitting is performed to obtain a first fitting plane that matches the local door image and a second fitting plane that matches the component image; Project the center point of the first fitting plane onto the second fitting plane to obtain the projection point of the center point of the first fitting plane onto the second fitting plane; The distance between the center point of the plane and the projection point is taken as the distance between the car door and the supporting component.

4. The method according to claim 1, characterized in that, The threaded hole comprises at least two sets of threaded holes; based on the image of the threaded hole region, the hole position error is analyzed to obtain the threaded hole position manufacturing error, including: Based on the image of the threaded hole area, position analysis is performed on each threaded hole group to obtain the center position of each threaded hole group. Based on the distance between each of the stated center positions, the hole position error is analyzed to obtain the thread hole position manufacturing error.

5. The method according to claim 4, characterized in that, Based on the image of the threaded hole region, positional analysis is performed on each group of threaded holes to obtain the center position of each group of threaded holes, including: For each of the threaded hole groups, based on the threaded hole region image, the position analysis of each target threaded hole in the threaded hole group is performed to obtain the image coordinates of each target threaded hole. Based on the mapping relationship between the image coordinate system and the vehicle coordinate system, the coordinates of each image are transformed to obtain the threaded hole coordinates of each target threaded hole in the vehicle coordinate system. The center position of the threaded hole group is determined based on the coordinates of each threaded hole.

6. The method according to claim 1, characterized in that, The step of calculating the adjustment amount of the door hinge in the installation direction based on the hinge installation error and the thread hole manufacturing error includes: The total installation error of the door hinge is obtained by superimposing the hinge installation error and the thread hole manufacturing error. The installation position compensation amount of the door hinge in the installation direction is determined based on the total installation error. The door hinge is adjusted according to the compensation amount for the installation position.

7. A door hinge adjustment device, characterized in that, The device includes: The first image acquisition module is used to acquire an image of the door hinge installed on the door; the hinge installation image includes a partial image of the door and an image of the supporting component for supporting the door hinge. The first error analysis module is used to calculate the distance between the car door and the supporting component based on the local car door image and the component image; and to perform error analysis on the installation position of the car door hinge on the car door based on the distance to obtain the hinge installation error. The second image acquisition module is used to acquire an image of the threaded hole area of ​​the vehicle body; the threaded hole area image refers to the image of the area on the vehicle body where the threaded holes used to connect the door hinges are located. The second error analysis module performs hole position error analysis on the threaded hole based on the image of the threaded hole area to obtain the threaded hole position manufacturing error. The hinge adjustment module is used to calculate the adjustment amount of the door hinge in the installation direction based on the hinge installation error and the thread hole manufacturing error.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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